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<h1>mdl_twolink_sym</h1><p><span class="helptopic">Create symbolic model of a simple 2-link mechanism</span></p><p>
MDL_TWOLINK_SYM is a script that creates the workspace variable twolink
which describes in symbolic form the kinematic and dynamic
characteristics of a simple planar 2-link mechanism moving in the
xz-plane, it experiences gravity loading.  The symbolic parameters are:

</p>
<ul>
  <li>link lengths: a1, a2</li>
  <li>link masses: m1, m2</li>
  <li>link CoMs in the link frame x-direction: c1, c2</li>
  <li>gravitational acceleration: g</li>
  <li>joint angles: q1, q2</li>
  <li>joint angle velocities: qd1, qd2</li>
  <li>joint angle accelerations: qdd1, qdd2</li>
</ul>
<h2>Notes</h2>
<ul>
  <li>It is a planar mechanism operating in the vertical plane and is
therefore affected by gravity (unlike mdl_planar2 in the horizontal
plane).</li>
  <li>Gear ratio is 1 and motor inertia is 0.</li>
  <li>Link inertias Iyy1, Iyy2 are 0.</li>
  <li>Viscous and Coulomb friction is 0.</li>
</ul>
<h2>References</h2>
<ul>
  <li>Based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).</li>
</ul>
<h2>See also</h2>
<p>
<a href="mdl_puma560.html">mdl_puma560</a>, <a href="mdl_stanford.html">mdl_stanford</a>, <a href="SerialLink.html">SerialLink</a></p>
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